pbio/drv/bluetooth: Get reference to peripheral.

This the next step towards supporting multiple peripherals.

Author: laurensvalk

lib/pbio/drv/bluetooth/bluetooth.c

@@ -149,6 +149,15 @@ pbio_error_t pbdrv_bluetooth_send_event_notification(pbio_os_state_t *state, pbi
 
 pbdrv_bluetooth_peripheral_t peripheral_singleton;
 
+pbio_error_t pbdrv_bluetooth_peripheral_get_available(pbdrv_bluetooth_peripheral_t **peripheral) {
+    // Only a single peripheral instance supported for now.
+    if (peripheral_singleton.func || pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_PERIPHERAL)) {
+        return PBIO_ERROR_BUSY;
+    }
+    *peripheral = &peripheral_singleton;
+    return PBIO_SUCCESS;
+}
+
 const char *pbdrv_bluetooth_peripheral_get_name(void) {
     pbdrv_bluetooth_peripheral_t *peri = &peripheral_singleton;
     return peri->name;

lib/pbio/drv/bluetooth/bluetooth_btstack.c

@@ -361,7 +361,7 @@ static void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packe
             if (peri->config->notification_handler) {
                 uint16_t length = gatt_event_notification_get_value_length(packet);
                 const uint8_t *value = gatt_event_notification_get_value(packet);
-                peri->config->notification_handler(value, length);
+                peri->config->notification_handler(peri, value, length);
             }
             break;
         }

lib/pbio/drv/bluetooth/bluetooth_stm32_bluenrg.c

@@ -952,7 +952,7 @@ static void handle_event(hci_event_pckt *event) {
                     evt_gatt_attr_notification *subevt = (void *)evt->data;
                     pbdrv_bluetooth_peripheral_t *peri = &peripheral_singleton;
                     if (peri->config->notification_handler) {
-                        peri->config->notification_handler(subevt->attr_value, subevt->event_data_length - 2);
+                        peri->config->notification_handler(peri, subevt->attr_value, subevt->event_data_length - 2);
                     }
                 }
                 break;

lib/pbio/drv/bluetooth/bluetooth_stm32_cc2640.c

@@ -1310,7 +1310,7 @@ static void handle_event(uint8_t *packet) {
                     // uint8_t attr_handle = (data[7] << 8) | data[6];
                     pbdrv_bluetooth_peripheral_t *peri = &peripheral_singleton;
                     if (peri->config->notification_handler) {
-                        peri->config->notification_handler(&data[8], pdu_len - 2);
+                        peri->config->notification_handler(peri, &data[8], pdu_len - 2);
                     }
                 }
                 break;

lib/pbio/include/pbdrv/bluetooth.h

@@ -132,14 +132,25 @@ typedef enum {
     PBDRV_BLUETOOTH_PERIPHERAL_OPTIONS_DISCONNECT_HOST = 1 << 1,
 } pbdrv_bluetooth_peripheral_options_t;
 
+typedef struct _pbdrv_bluetooth_peripheral_t pbdrv_bluetooth_peripheral_t;
+
+/**
+ * Callback that is called when peripheral sends a notification.
+ *
+ * @param [in]  peripheral   The peripheral that sent the notification.
+ * @param [in]  data        The data that was received.
+ * @param [in]  size        The size of @p data in bytes.
+ */
+typedef void (*pbdrv_bluetooth_peripheral_notification_handler_t)(pbdrv_bluetooth_peripheral_t *peripheral, const uint8_t *data, uint32_t size);
+
 /** Peripheral scan and connection configuration */
 typedef struct {
     /** Matcher for advertisement */
     pbdrv_bluetooth_ad_match_t match_adv;
     /** Matcher for scan response */
     pbdrv_bluetooth_ad_match_t match_adv_rsp;
     /** Handler for received notifications after connecting */
-    pbdrv_bluetooth_receive_handler_t notification_handler;
+    pbdrv_bluetooth_peripheral_notification_handler_t notification_handler;
     /** Option flags governing connection and pairing */
     pbdrv_bluetooth_peripheral_options_t options;
     /** Timeout before aborting scan and connect. Use 0 for no timeout. */
@@ -149,7 +160,7 @@ typedef struct {
 /**
  * State of a peripheral that the hub may be connected to, such as a remote.
  */
-typedef struct {
+struct _pbdrv_bluetooth_peripheral_t {
     uint16_t con_handle;
     uint8_t status;
     uint8_t bdaddr_type;
@@ -169,7 +180,7 @@ typedef struct {
     pbio_os_timer_t watchdog;
     /** Cancellation requested */
     bool cancel;
-} pbdrv_bluetooth_peripheral_t;
+};
 
 /** Advertisement types. */
 typedef enum {
@@ -341,6 +352,16 @@ pbio_error_t pbdrv_bluetooth_send_event_notification(pbio_os_state_t *state, pbi
 // Functions related to connections to peripherals.
 //
 
+/**
+ * Gets an available peripheral instance.
+ *
+ * @param [out] peripheral   Pointer to the peripheral instance if found.
+ * @return                  ::PBIO_SUCCESS if a peripheral instance is available.
+ *                          ::PBIO_ERROR_NO_DEV if no peripheral instance is available.
+ *                          ::PBIO_ERROR_BUSY if all peripheral instances are in use.
+ */
+pbio_error_t pbdrv_bluetooth_peripheral_get_available(pbdrv_bluetooth_peripheral_t **peripheral);
+
 /**
  * Gets the name of the connected peripheral.
  *

pybricks/iodevices/pb_type_iodevices_lwp3device.c

@@ -91,13 +91,37 @@ static mp_obj_t self_obj;
 
 typedef struct {
     mp_obj_base_t base;
+    /**
+     * The peripheral instance associated with this MicroPython object.
+     */
+    pbdrv_bluetooth_peripheral_t *peripheral;
+    /**
+     * Async iterable state.
+     */
     pb_type_async_t *iter;
-    pbio_os_state_t sub;
+    /**
+     * Buttons object (property of Remote class).
+     */
     mp_obj_t buttons;
+    /**
+     * Light object (property of Remote class).
+     */
     mp_obj_t light;
+    /**
+     * Powered Up Remote Left button states, populated by notifications.
+     */
     uint8_t left[3];
+    /**
+     * Powered Up Remote Right button states, populated by notifications.
+     */
     uint8_t right[3];
+    /**
+     * Powered Up Remote Center button state, populated by notifications.
+     */
     uint8_t center;
+    /**
+     * The hub kind to filter advertisements for.
+     */
     lwp3_hub_kind_t hub_kind;
     // Null-terminated name used to filter advertisements and responses.
     // Also used as the name of the device when setting the name, since this
@@ -128,15 +152,20 @@ typedef struct {
 } pb_lwp3device_obj_t;
 
 // Handles LEGO Wireless protocol messages from the Powered Up Remote.
-static pbio_pybricks_error_t handle_remote_notification(const uint8_t *value, uint32_t size) {
+static void handle_remote_notification(pbdrv_bluetooth_peripheral_t *peripheral, const uint8_t *value, uint32_t size) {
 
+    // No object registered for processing notifcations.
     if (self_obj == MP_OBJ_NULL) {
-        // Silently ignore incoming notifications when we aren't expecting any.
-        return PBIO_PYBRICKS_ERROR_OK;
+        return;
     }
 
     pb_lwp3device_obj_t *self = MP_OBJ_TO_PTR(self_obj);
 
+    // It's not for us.
+    if (self->peripheral != peripheral) {
+        return;
+    }
+
     if (value[0] == 5 && value[2] == LWP3_MSG_TYPE_HW_NET_CMDS && value[3] == LWP3_HW_NET_CMD_CONNECTION_REQ) {
         // This message is meant for something else, but contains the center button state
         self->center = value[4];
@@ -148,8 +177,6 @@ static pbio_pybricks_error_t handle_remote_notification(const uint8_t *value, ui
             memcpy(self->right, &value[4], 3);
         }
     }
-
-    return PBIO_PYBRICKS_ERROR_OK;
 }
 
 static pbdrv_bluetooth_ad_match_result_flags_t lwp3_advertisement_matches(uint8_t event_type, const uint8_t *data, const char *name, const uint8_t *addr, const uint8_t *match_addr) {
@@ -278,6 +305,9 @@ static pbio_error_t pb_lwp3device_connect_thread(pbio_os_state_t *state, mp_obj_
 
     PBIO_OS_ASYNC_BEGIN(state);
 
+    // Get available peripheral instance.
+    pb_assert(pbdrv_bluetooth_peripheral_get_available(&self->peripheral));
+
     // Scan and connect with timeout.
     pb_assert(pbdrv_bluetooth_peripheral_scan_and_connect(&scan_config));
     PBIO_OS_AWAIT(state, &unused, err = pbdrv_bluetooth_await_peripheral_command(&unused, NULL));
@@ -376,7 +406,7 @@ static pbio_error_t pb_lwp3device_connect_thread(pbio_os_state_t *state, mp_obj_
     PBIO_OS_ASYNC_END(PBIO_ERROR_IO);
 }
 
-static mp_obj_t pb_lwp3device_connect(mp_obj_t self_in, mp_obj_t name_in, mp_obj_t timeout_in, lwp3_hub_kind_t hub_kind, pbdrv_bluetooth_receive_handler_t notification_handler, bool pair) {
+static mp_obj_t pb_lwp3device_connect(mp_obj_t self_in, mp_obj_t name_in, mp_obj_t timeout_in, lwp3_hub_kind_t hub_kind, pbdrv_bluetooth_peripheral_notification_handler_t notification_handler, bool pair) {
 
     pb_lwp3device_obj_t *self = MP_OBJ_TO_PTR(self_in);
 
@@ -555,18 +585,26 @@ MP_DEFINE_CONST_OBJ_TYPE(pb_type_pupdevices_Remote,
 
 #if PYBRICKS_PY_IODEVICES_LWP3_DEVICE
 
-static pbio_pybricks_error_t handle_lwp3_generic_notification(const uint8_t *value, uint32_t size) {
+/**
+ * Handles LEGO Wireless protocol messages from generic LWP3 devices.
+ */
+static void handle_lwp3_generic_notification(pbdrv_bluetooth_peripheral_t *peripheral, const uint8_t *value, uint32_t size) {
 
+    // No object registered for processing notifcations.
     if (self_obj == MP_OBJ_NULL) {
-        // Silently ignore incoming notifications when we aren't expecting any.
-        return PBIO_PYBRICKS_ERROR_OK;
+        return;
     }
 
     pb_lwp3device_obj_t *self = MP_OBJ_TO_PTR(self_obj);
 
+    // It's not for us.
+    if (self->peripheral != peripheral) {
+        return;
+    }
+
     if (!self->noti_num) {
-        // Allocated data not ready, but no error.
-        return PBIO_PYBRICKS_ERROR_OK;
+        // Allocated data not ready.
+        return;
     }
 
     // Buffer is full, so drop oldest sample by advancing read index.
@@ -581,7 +619,7 @@ static pbio_pybricks_error_t handle_lwp3_generic_notification(const uint8_t *val
     // to-be-read data. If it was already full when we started writing, both
     // indexes have now advanced so it is still full now.
     self->noti_data_full = self->noti_idx_read == self->noti_idx_write;
-    return PBIO_PYBRICKS_ERROR_OK;
+    return;
 }
 
 

pybricks/iodevices/pb_type_iodevices_xbox_controller.c

@@ -82,12 +82,11 @@ typedef struct {
 static pb_xbox_t pb_xbox_singleton;
 
 // Handles LEGO Wireless protocol messages from the XBOX Device.
-static pbio_pybricks_error_t handle_notification(const uint8_t *value, uint32_t size) {
+static void handle_notification(pbdrv_bluetooth_peripheral_t *peripheral, const uint8_t *value, uint32_t size) {
     pb_xbox_t *xbox = &pb_xbox_singleton;
     if (size <= sizeof(xbox_input_map_t)) {
         memcpy(&xbox->state, &value[0], size);
     }
-    return PBIO_PYBRICKS_ERROR_OK;
 }
 
 #define _16BIT_AS_LE(x) ((x) & 0xff), (((x) >> 8) & 0xff)